Synchronous Mode; Free Running Mode; Distributed Clock Synchronization Mode - Leadshine EL8-EC Series User Manual

ID number setting of EtherCAT slave station
To set up EtherCAT slave station ID number, please set Pr0.24 = 1 and set required ID
number to Pr0.23.
Name
Pr0.23 Range
Activation
Set ID number of the slave station under EtherCAT mode
Name
Pr0.24 Range
Activation
0: Master device automatically assigns a slave address.
1：The slave ID = Pr0.23

7.2 Synchronous Mode

7.2.1 Free Running Mode

In free running mode, EL8-EC processes the process data sent by the master
asynchronously. It only applies to asynchronous motion mode such as homing mode,
protocol position mode, etc

7.2.2 Distributed clock synchronization mode

EL8-EC adopts the synchronous mode of distributed clock as shown in figure 6.2. When
the master station sends process data to the slave station, the slave station immediately
reads the process data, and then waits for the synchronization signal to trigger the
process data to act on the driver.
The process data must arrive at the EL8-EC drive before the time of Sync0 signal T1. The
drive has completed the analysis of the process data and relevant control calculation
before the arrival of Sync0 event. After receiving Sync0 event, EL8-EC immediately
implements the control action which has a high synchronization performance.
EtherCAT slave ID
0~3276
Unit
7
After restart
Source of slave ID
0~1 Unit
After restart
Data
output
event
Sync0
event
T
1
Data
frame
Figure 7.2 High performance synchronization mode
User manual of EL8-EC***F AC Servo
Mode
— Default 2
Mode
— Default 1
Data
Cycle time
output
event
Data
frame
Index
Index
Sync0
event
T
1
292
F
2023h
F
2024h